research projects

A Light Field Front-end for Robust SLAM in Dynamic Environments

Pushyami Kaveti

Kaveti, P. and Singh, H., 2020. A Light Field Front-end for Robust SLAM in Dynamic Environments. arXiv preprint arXiv:2012.10714.

Dynamic Channel Selection in UAVs through Constellations in the Sky

Mithun Diddi

Reus Muns, G., Diddi, M., Singh, H. and Chowdhury, K.R., 2020. Dynamic Channel Selection in UAVs through Constellations in the Sky. arXiv e-prints, pp.arXiv-2002.

Multi-Sensor Mapping for Low Contrast, Quasi-Dynamic, Large Objects

Vikrant Shah

Shah, V., Schild, K., Lindeman, M., Duncan, D., Sutherland, D., Cenedese, C., Straneo, F. and Singh, H., 2019. Multi-Sensor Mapping for Low Contrast, Quasi-Dynamic, Large Objects. IEEE Robotics and Automation Letters, 5(2), pp.470-476.

Iterative Labeling Process

Zhiyong Zhang, Samson Braun, Pushyami Kaveti

In this paper, we introduce a robust and cheap way to make training data set for object detection, especially for specialized fields that lack a large data set. The main idea of the Iterative Labeling Process is to train on predictions iteratively. Amazon MTurk is used to correct predictions. Auto-approval is applied to filter the MTurk results, which make the process fully automated. The process can save three times the common labeling cost. Furthermore, it can also complement missing objects and add ”background” labels in any existing data set. Train background labels can effectively reduce false positives.

Issues in the Design of Marine Vehicles: A Needs Based Analysis

Vikrant Shah

Shah, V. and Singh, H., 2018, November. Issues in the Design of Marine Vehicles A Needs Based Analysis. In 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV) (pp. 1-6). IEEE.

Towards A COLREGs Compliant Autonomous Surface Vessel

Zhiyong Zhang

In this paper, we look at the role of autonomous navigation in the maritime domain. Specifically, we look at how an Autonomous Surface Vessel (ASV) can achieve obstacle avoidance based on the Convention on the International Regulations for Preventing Collisions at Sea (1972), or COLREGs, in real-world environments. To mimic conditions found in the marine vessel environment, we examine the case where the ASV is equipped with a broadband marine radar, an Inertial Navigation System (INS), and uses official Electronic Navigational Charts (ENC).

Experimental Imaging Results of a UAV-mounted Downward-Looking mm-wave Radar

Mithun Diddi

Zhang, W., Heredia-Juesas, J., Diddi, M., Tirado, L., Singh, H. and Martinez-Lorenzo, J.A., 2019, July. Experimental Imaging Results of a UAV-mounted Downward-Looking mm-wave Radar. In 2019 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio Science Meeting (pp. 1639-1640). IEEE.

Mobile Grasping & Tele-Operation

Colin Keil

My research is focussed on developing and utilizing a mobile research platform with haptic feedback enabled tele-operation. We are currently in the process of developing and integrating the various systems; a Clearpath Husky mobile platform, a UR5e arm, and custom hydraulic grippers and controllers. Going forward we are interested in exploring mobile manipulation tasks, and using augmented perception schemes to improve the tele-operation experience. Later, we will work to mount a fully custom solution on an underwater robot, using haptic feedback to aide with manipulation tasks in low visibility environments.

Penguin Counting with Machine Learning

Vikrant Shah

Singh, H., Towards Efficient Machine Learning Methods for Penguin Counting in Unmanned Aerial System Imagery. In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043) (pp. 1-7). IEEE.

Strycker, N., Borowicz, A., Wethington, M., Forrest, S., Shah, V., Liu, Y., Singh, H. and Lynch, H.J., 2021. Fifty-year change in penguin abundance on Elephant Island, South Shetland Islands, Antarctica: results of the 2019–20 census. Polar Biology, 44(1), pp.45-56.

AirBeam: Experimental Demonstration of Distributed Beamforming by a Swarm of UAVs

Mithun Diddi

Mohanti, S., Bocanegra, C., Meyer, J., Secinti, G., Diddi, M., Singh, H. and Chowdhury, K., 2019, November. AirBeam: Experimental Demonstration of Distributed Beamforming by a Swarm of UAVs. In 2019 IEEE 16th International Conference on Mobile Ad Hoc and Sensor Systems (MASS) (pp. 162-170). IEEE.

AutOTranS: An Autonomous Open World Transportation System

Vikrant Shah

Zapata-Impata, B.S., Shah, V., Singh, H. and Platt, R., 2018. Autotrans: an autonomous open world transportation system. arXiv preprint arXiv:1810.03400.